Error
data class ErrorThresholds(val stabilizationTimeout: Measure<Time>, val maxTranslationalError: Measure<Distance>, val minVelStab: Measure<Velocity<Distance>>, val maxAngularError: Measure<Angle>, val minAngVelStab: Measure<Velocity<Angle>>)
Data class for storing constants related to extra correction for Mecanum drive stabilization. This extra correction is not possible in Tank drives due to the non-holonomic constraints.
Author
Lucas Bubner, 2024
Since
6.0.0
Parameters
stabilization
the buffer of extra time to add to the task to stabilize the robot
max
the maximum translational error
min
the minimum velocity to be considered for stabilization
max
the maximum angular error
min
the minimum angular velocity to be considered for stabilization